#ifndef ROS_MODBUS_H
#define ROS_MODBUS_H

#include <ros/ros.h>
#include <ros/time.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <boost/asio.hpp>
#include <geometry_msgs/Twist.h>

extern void serialInit();
extern void writeModbus_in(unsigned char addr,unsigned int reg,unsigned int value);
extern void writeModbus();
extern void writeModbus2();
//extern bool readSpeed(double &Left_v,double &Right_v,double &Angle,unsigned char &ctrlFlag);
unsigned char getCrc8(unsigned char *ptr, unsigned short len);

#endif
